Coupling methods for radar receiving systems

Abstract

This application provides a coupling method for a radar receiving system, relating to the field of radar technology. The coupling method includes generating an echo wave, which travels through a receiving mirror to a receiving sensor; acquiring the echo signal amplitude of a target device under different position parameters through multiple signal channels of the receiving sensor; determining position adjustment parameters based on the relationship between the echo signal amplitude acquired from multiple signal channels and the position parameters; and adjusting the position of the target device according to the position adjustment parameters; finally, fixing the position of the target device. This coupling method utilizes the relationship between the echo signal amplitude acquired from multiple signal channels and the position parameters to comprehensively judge and select optimal position adjustment parameters, thereby reducing errors caused by selecting the target position based on visual inspection or signals acquired from a single signal channel. Therefore, this coupling method possesses high coupling accuracy.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more specifically, to a coupling method for a radar receiving system. Background Technology

[0002] The performance of a lidar system primarily depends on the transceiver module, which consists of a laser emitting system, a receiving system, and an optical module. The coupling effect of the receiving system is crucial to lidar performance. Current manual coupling methods rely entirely on visual inspection and manual adjustment to control the accuracy of the adjustment, resulting in significant errors and poor consistency, which severely limits the performance of the lidar. Summary of the Invention

[0003] The purpose of this application is to provide a coupling method for a radar receiving system that can accurately couple the receiving system of a lidar to ensure that the lidar has better performance.

[0004] The embodiments of this application can be implemented as follows:

[0005] In a first aspect, this application provides a coupling method for a radar receiving system, the radar receiving system including a receiving reflector and a receiving sensor, the receiving reflector and / or the receiving sensor being the target device for coupling, the receiving sensor having multiple signal channels, and the coupling method including:

[0006] A return wave is generated, and the return wave reaches the receiving sensor via the receiving reflector;

[0007] The echo signal amplitude of the target device under different position parameters is obtained by receiving multiple signal channels of the sensor. Based on the relationship between the echo signal amplitude obtained by multiple signal channels and the position parameters, the position adjustment parameters are determined, and the position of the target device is adjusted according to the position adjustment parameters.

[0008] Fix the position of the target device.

[0009] In an optional implementation, the receiving reflector and the receiving sensor are coupled as target devices sequentially.

[0010] In an optional implementation, when the target device is a receiving reflector, the position parameters of the receiving reflector include a first rotation angle of the receiving reflector about a first axis and a second rotation angle about a second axis, the second axis being perpendicular to the first axis; the steps of acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor, determining position adjustment parameters based on the relationship between the echo signal amplitude acquired by the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameters include:

[0011] The receiving reflector is controlled to rotate around the first axis and simultaneously acquire the amplitude of the first echo signal through multiple signal channels of the receiving sensor;

[0012] The first adjustment angle is determined based on the relationship between the amplitude of the first echo signal obtained from multiple signal channels and the first rotation angle;

[0013] Rotate the receiving reflector around the first axis to the first adjustment angle;

[0014] The receiving reflector is controlled to rotate around the second axis and the amplitude of the second echo signal is obtained through multiple signal channels of the receiving sensor.

[0015] The second adjustment angle is determined based on the relationship between the amplitude of the second echo signal obtained from multiple signal channels and the second rotation angle;

[0016] Rotate the receiving reflector around the second axis to the second adjustment angle.

[0017] In an optional implementation, the step of determining the first adjustment angle based on the relationship between the amplitude of the first echo signal obtained from multiple signal channels and the first rotation angle includes:

[0018] Based on the amplitude of the first echo signal and the first rotation angle obtained from multiple signal channels, multiple first signal curves reflecting the relationship between the amplitude of the first echo signal and the first rotation angle are generated.

[0019] In each first signal curve, the two first turning angles corresponding to the preset proportion of the largest first echo signal amplitude are obtained and the average value is calculated to obtain the first average turning angle;

[0020] The first average turning angle corresponding to each first signal curve is weighted and averaged to obtain the first adjustment angle;

[0021] The steps for determining the second adjustment angle based on the relationship between the amplitude of the second echo signal obtained from multiple signal channels and the second rotation angle include:

[0022] Based on the second echo signal amplitude and second rotation angle obtained from multiple signal channels, multiple second signal curves reflecting the relationship between the second echo signal amplitude and the second rotation angle are generated;

[0023] In each second signal curve, the two second turning angles corresponding to the preset proportion of the largest second echo signal amplitude are obtained and the average value is calculated to obtain the second average turning angle;

[0024] The second average angle corresponding to each second signal curve is weighted and averaged to obtain the second adjustment angle.

[0025] In an optional implementation, the preset ratio is 70%.

[0026] In an optional embodiment, after rotating the receiving reflector about a first axis to a first adjustment angle and about a second axis to a second adjustment angle, acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor, determining the position adjustment parameters based on the relationship between the echo signal amplitude acquired by the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameters, the step further includes:

[0027] The receiving reflector is controlled to rotate around the first axis and simultaneously acquire the amplitude of the third echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the third echo signal, the travel distance and step distance of the receiving reflector rotating around the first axis are smaller than the travel distance and step distance of the receiving reflector rotating around the first axis in the process of acquiring the amplitude of the first echo signal.

[0028] The third adjustment angle is determined based on the relationship between the amplitude of the third echo signal obtained from multiple signal channels and the first rotation angle.

[0029] Rotate the receiving reflector around the first axis to the third adjustment angle;

[0030] The receiving reflector is controlled to rotate around the second axis and simultaneously acquire the amplitude of the fourth echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the fourth echo signal, the travel distance and step distance of the receiving reflector rotating around the second axis are smaller than the travel distance and step distance of the receiving reflector rotating around the second axis in the process of acquiring the amplitude of the second echo signal.

[0031] The fourth adjustment angle is determined based on the relationship between the amplitude of the fourth echo signal obtained from multiple signal channels and the second rotation angle.

[0032] Rotate the receiving reflector around the second axis to the fourth adjustment angle.

[0033] In an optional implementation, the receiving sensor includes at least one pair of signal channels. The step of determining the fourth adjustment angle based on the relationship between the amplitude of the fourth echo signal acquired from multiple signal channels and the second rotation angle includes:

[0034] At different second turning angles, the square of the difference between the amplitudes of the fourth echo signals acquired by the two signal channels belonging to the same pair is calculated, and the square values ​​corresponding to each pair of signal channels are weighted and averaged to obtain the weighted average value corresponding to each second turning angle.

[0035] The fourth adjustment angle is determined based on the second turning angle corresponding to the smallest weighted average value.

[0036] In an optional implementation, when the target device is a receiving sensor, the position parameters of the receiving sensor include a first translation in a first direction and a second translation in a second direction, the first direction being perpendicular to the second direction; the steps of acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor, determining position adjustment parameters based on the relationship between the echo signal amplitude acquired through multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameters include:

[0037] The receiving sensor is controlled to translate along the first direction and simultaneously acquire the amplitude of the fifth echo signal through multiple signal channels of the receiving sensor;

[0038] The first adjustment position is determined based on the relationship between the amplitude of the fifth echo signal obtained from multiple signal channels and the first translation amount.

[0039] The receiving sensor is translated along the first direction to the first adjustment position;

[0040] The receiving sensor is controlled to translate along the second direction and simultaneously acquire the amplitude of the sixth echo signal through multiple signal channels of the receiving sensor;

[0041] The second adjustment position is determined based on the relationship between the amplitude of the sixth echo signal obtained from multiple signal channels and the second translation amount.

[0042] The receiving sensor is moved along the second direction to the second adjustment position.

[0043] In an optional implementation, the step of determining the first adjustment position based on the relationship between the amplitude of the fifth echo signal acquired from multiple signal channels and the first translation amount includes:

[0044] Based on the amplitude of the fifth echo signal and the first translation amount obtained from multiple signal channels, multiple third signal curves reflecting the relationship between the amplitude of the fifth echo signal and the first translation amount are generated.

[0045] In each third signal curve, the two first translation amounts corresponding to the preset proportion of the largest fifth echo signal amplitude are obtained and the average value is calculated to obtain the first average translation amount;

[0046] The first average shift corresponding to each third signal curve is weighted and averaged to obtain the first adjustment position;

[0047] The step of determining the second adjustment position based on the relationship between the amplitude of the sixth echo signal acquired from multiple signal channels and the second translation amount includes:

[0048] Based on the amplitude of the sixth echo signal and the second translation amount obtained from multiple signal channels, multiple fourth signal curves reflecting the relationship between the amplitude of the sixth echo signal and the second translation amount are generated.

[0049] In each fourth signal curve, the two second shifts corresponding to the preset proportion of the largest sixth echo signal amplitude are obtained and the average value is calculated to obtain the second average shift.

[0050] The second average shift corresponding to each fourth signal curve is weighted and averaged to obtain the second adjustment position.

[0051] In an optional implementation, after translating the receiving sensor along a first direction to a first adjustment position and along a second direction to a second adjustment position, the steps of acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor, determining position adjustment parameters based on the relationship between the echo signal amplitude acquired by the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameters, further include:

[0052] The receiving sensor is controlled to translate along a first direction and simultaneously acquire the amplitude of the seventh echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the seventh echo signal, the travel distance and step distance of the receiving sensor translating along the first direction are smaller than those of the receiving sensor translating along the first direction in the process of acquiring the amplitude of the fifth echo signal.

[0053] The third adjustment position is determined based on the relationship between the amplitude of the seventh echo signal obtained from multiple signal channels and the first translation amount.

[0054] The receiving sensor is moved along the first direction to the third adjustment position;

[0055] The receiving sensor is controlled to translate along the second direction and simultaneously acquire the amplitude of the eighth echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the eighth echo signal, the travel distance and step distance of the receiving sensor translating along the second direction are smaller than those of the receiving sensor translating along the second direction in the process of acquiring the amplitude of the sixth echo signal.

[0056] The fourth adjustment position is determined based on the relationship between the amplitude of the eighth echo signal obtained from multiple signal channels and the second translation amount.

[0057] The receiving sensor is moved along the second direction to the fourth adjustment position.

[0058] In an optional implementation, the receiving sensor includes at least one pair of signal channels. The step of determining the fourth adjustment position based on the relationship between the amplitude of the eighth echo signal acquired from multiple signal channels and the second translation amount includes:

[0059] Under different second translation amounts, calculate the square of the difference between the amplitudes of the eighth echo signals acquired by the two signal channels belonging to the same pair, and then take a weighted average of the square values ​​corresponding to each pair of signal channels to obtain the weighted average value corresponding to each second translation amount.

[0060] The fourth adjustment position is determined based on the second translation amount corresponding to the smallest weighted average value.

[0061] In an alternative implementation, the target device adjusts its position parameters via a six-degree-of-freedom displacement platform.

[0062] In an optional implementation, the step of determining the position adjustment parameters based on the relationship between the echo signal amplitudes acquired from multiple signal channels and the position parameters includes:

[0063] In each signal channel, two position parameters corresponding to the preset proportional amplitude of the maximum echo signal amplitude are obtained and their average value is calculated to obtain the average position parameters of each signal channel.

[0064] The position adjustment parameters are obtained by weighting the average position parameters corresponding to each signal channel.

[0065] In an optional implementation, the preset amplitude ratio is 70% of the maximum echo signal amplitude.

[0066] In an optional implementation, the receiving sensor includes at least one pair of signal channels. The step of determining the position adjustment parameters based on the relationship between the echo signal amplitude acquired from multiple signal channels and the position parameters includes:

[0067] Under each position parameter, the square of the difference between the echo signal amplitudes acquired by each pair of signal channels is calculated and then weighted and averaged to obtain the weighted average value under each position parameter.

[0068] The position adjustment parameters are determined based on the position parameters corresponding to the smallest weighted average.

[0069] The beneficial effects of the embodiments of this application are as follows:

[0070] The coupling method provided in this application includes generating an echo wave, which reaches a receiving sensor via a receiving reflector; acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor; determining position adjustment parameters based on the relationship between the echo signal amplitude acquired from multiple signal channels and the position parameters; and adjusting the position of the target device according to the position adjustment parameters; and fixing the position of the target device. This coupling method utilizes the relationship between the echo signal amplitude acquired from multiple signal channels and the position parameters to comprehensively judge and select the optimal position adjustment parameters. Because the position of the target device is adjusted using echo signal amplitudes from multiple signal channels and multiple position parameters, it can reduce the errors caused by selecting the target position based on visual inspection or signals acquired from a single signal channel. Therefore, this coupling method has high coupling accuracy. Attached Figure Description

[0071] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0072] Figure 1 This is a schematic diagram of the optical path of a lidar in one embodiment of this application;

[0073] Figure 2 This is a flowchart of a coupling method for a radar receiving system in one embodiment of this application;

[0074] Figure 3 This is a flowchart of step S200 in the case where the target device is a receiving reflector in an embodiment of this application;

[0075] Figure 4 This is a schematic diagram of the first signal curves in one embodiment of this application;

[0076] Figure 5 This is a schematic diagram of the second signal curves in one embodiment of this application;

[0077] Figure 6 This is a schematic diagram of the third signal curves in one embodiment of this application;

[0078] Figure 7 This is a schematic diagram of each of the fourth signal curves in one embodiment of this application;

[0079] Figure 8 This is a flowchart of step S200 in the case where the target device is a receiving sensor in an embodiment of this application.

[0080] Icons: 100 - Transmitting system; 200 - Receiving system; 210 - Receiving reflector; 220 - Receiving lens group; 230 - Receiving sensor; 300 - Target plate. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0082] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0083] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0084] In the description of this application, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0085] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0086] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0087] The coupling method provided in this application embodiment is for a lidar receiving system 200. Figure 1 This is a schematic diagram of the optical path of a lidar in one embodiment of this application. Figure 1As shown, the lidar includes a transmitting system 100 and a receiving system 200. The transmitting system 100 emits a detection beam. The receiving system 200 includes a receiving lens assembly 220, a receiving reflector 210, and a receiving sensor 230. The coupling method of this application involves adjusting the position parameters of the receiving reflector 210 and / or the receiving sensor 230, and then fixing the positions of the receiving reflector 210 and the receiving sensor 230 relative to the receiving lens assembly 220 after adjustment.

[0088] During the coupling process, using the target plate 300 as the probe, the probe beam emitted by the transmitting system 100 passes through the receiving reflector 210 and is projected onto the target plate 300. The target plate 300 reflects the return wave back to the receiving reflector 210, which then reflects the return wave to the receiving lens group 220. After passing through the receiving lens group 220, the return wave is collected by the receiving sensor 230. It should be noted that in this embodiment, the receiving reflector 210 allows the emitted beam to pass through, while the return wave is reflected.

[0089] The receiving sensor 230 should have multiple signal channels. For example, in this embodiment, the receiving sensor 230 has 16 signal channels, which are numbered A1 to A16 and arranged sequentially. In this embodiment, signal channels A1, A6, A11, and A16 are selected for use during coupling, and signal channels A6 and A11 are axially symmetrical.

[0090] Figure 2 This is a flowchart of a coupling method for a radar receiving system in one embodiment of this application. Figure 2 As shown, the coupling method provided in this application embodiment includes:

[0091] Step S100: A return wave is generated, and the return wave reaches the receiving sensor via the receiving reflector.

[0092] Taking the lidar provided in this application embodiment as an example, the transmitting system 100 generates a detection beam. After the detection beam illuminates the target plate 300, a return wave is generated. The return wave is reflected by the receiving reflector 210, then passes through the receiving lens group 220, and finally reaches the receiving sensor 230.

[0093] Step S200: Obtain the echo signal amplitude of the target device under different position parameters by receiving multiple signal channels of the sensor; determine the position adjustment parameters based on the relationship between the echo signal amplitude obtained by the multiple signal channels and the position parameters; and adjust the position of the target device according to the position adjustment parameters.

[0094] In this embodiment, the target device is the receiving reflector 210 and / or the receiving sensor 230. Taking the lidar provided in this embodiment as an example, the echo signal amplitude of the target device under different position parameters is obtained through four signal channels A1, A6, A11, and A16. The four signal channels A1, A6, A11, and A16 are spaced apart and symmetrical, so selecting these four signal channels helps to avoid systematic errors.

[0095] In an optional implementation, the step of determining the position adjustment parameter based on the relationship between the echo signal amplitude and position parameters obtained from multiple signal channels may specifically include: in each signal channel, obtaining two position parameters corresponding to a preset proportional amplitude of the maximum echo signal amplitude and calculating their average value to obtain the average position parameter for each signal channel; and weighting the average position parameters corresponding to each signal channel to obtain the position adjustment parameter.

[0096] Typically, position parameters affect the echo signal amplitude, and lidar often requires strong echo intensity. Therefore, the position parameters corresponding to a larger echo signal amplitude are close to the ideal position parameters. The preset proportional amplitude of the maximum echo signal amplitude often corresponds to two position parameters, while the ideal position parameter lies between these two (see reference). Figure 4 Therefore, in this embodiment, the average value of the two position parameters corresponding to the preset proportional amplitude of the maximum echo signal amplitude (i.e., the average position parameter) is representative. Then, the average position parameters corresponding to each signal channel are weighted and averaged to obtain the position adjustment parameter. The position of the target device is then adjusted according to the position adjustment parameter, allowing the target device to be as close as possible to the ideal position.

[0097] Optionally, the preset amplitude ratio is 70% of the maximum echo signal amplitude.

[0098] In this embodiment, the signal channels of the receiving sensor 230 are paired. For example, signal channels A1 and A11 form a pair, and signal channels A6 and A16 form a pair. Optionally, the step S200 of determining the position adjustment parameters based on the relationship between the echo signal amplitudes obtained from multiple signal channels and the position parameters may further include:

[0099] Under each position parameter, the square of the difference between the echo signal amplitudes acquired by each pair of signal channels is calculated and weighted averaged to obtain the weighted average value under each position parameter; the position adjustment parameter is determined based on the position parameter corresponding to the smallest weighted average value.

[0100] As can be seen from the methods for determining position adjustment parameters described above, besides averaging the position parameters corresponding to the preset proportional amplitude of the maximum echo signal amplitude to obtain the average position parameter, the position adjustment parameter can also be determined based on the square of the difference between the echo signal amplitudes of paired signal channels. The purpose of this method is to select a position adjustment parameter that minimizes the difference in echo signal amplitudes between each pair of signal channels at that position parameter. When the target device is in this position, it is considered to be close to the ideal position.

[0101] It should be understood that the two methods mentioned above for determining the position adjustment parameters based on the relationship between the echo signal amplitude and the position parameters can be used individually or in combination, such as using two different methods in coarse coupling and fine coupling respectively.

[0102] In this embodiment, the target device can adjust its position parameters using a six-degree-of-freedom (DOF) displacement platform. The six-DOF displacement platform allows for multi-freedom, high-precision fine-tuning, which better ensures accuracy compared to handheld adjustments.

[0103] Step S300: Fix the position of the target device.

[0104] In this embodiment, the receiving reflector 210 does not directly contact the connected object (such as the base) during the adjustment process, but rather through UV adhesive. After the position of the receiving reflector 210 is adjusted, the adhesive is cured by irradiating with ultraviolet light, thereby fixing the position of the receiving reflector 210.

[0105] The following section takes the receiving reflector 210 as the target device as an example to describe step S200 in detail.

[0106] Figure 3 This is a flowchart of step S200 in the embodiment of this application where the target device is the receiving reflector 210. Please refer to... Figure 3 When the target device is a receiving reflector 210, the position parameters of the receiving reflector 210 include a first rotation angle of the receiving reflector 210 about a first axis and a second rotation angle about a second axis, the second axis being perpendicular to the first axis. Step S200 involves acquiring the echo signal amplitude of the target device under different position parameters through multiple signal channels of the receiving sensor 230, determining position adjustment parameters based on the relationship between the echo signal amplitude acquired from the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameters. This step includes:

[0107] Step S201: Control the receiving reflector to rotate around the first axis and simultaneously acquire the amplitude of the first echo signal through multiple signal channels of the receiving sensor.

[0108] In this embodiment, the first rotation angle of the receiving reflector 210 is adjusted by a six-degree-of-freedom displacement platform, and the amplitude of the first echo signal is simultaneously acquired through the four signal channels of the receiving sensor 230. Optionally, the stroke for adjusting the first rotation angle is 3°, and the step size is 0.1°.

[0109] Step S202: Determine the first adjustment angle based on the relationship between the amplitude of the first echo signal obtained from multiple signal channels and the first rotation angle.

[0110] In this embodiment, step S202 may specifically include: generating multiple first signal curves reflecting the relationship between the first echo signal amplitude and the first rotation angle based on the first echo signal amplitude and the first rotation angle obtained from multiple signal channels; in each first signal curve, obtaining the two first rotation angles corresponding to the preset proportion of the largest first echo signal amplitude and calculating the average value to obtain the first average rotation angle; and performing a weighted average of the first average rotation angles corresponding to each first signal curve to obtain the first adjustment angle.

[0111] Figure 4 This is a schematic diagram of the first signal curves in one embodiment of this application. Figure 4 As shown, each of the four signal channels generates a first signal curve, which can be displayed using an oscilloscope. For example, the four first signal curves are displayed using the oscilloscope's CH1, CH2, CH3, and CH4 channels, respectively. Each first signal curve has a peak value (i.e., maximum value). In this embodiment, the two corresponding first corners are obtained based on 70% of the maximum echo signal amplitude. For example, the values ​​of the two first corners obtained from the first signal curve of CH1 are X11 and X12, the values ​​of the two first corners obtained from the first signal curve of CH2 are X21 and X22, the values ​​of the two first corners obtained from the first signal curve of CH3 are X31 and X32, and the values ​​of the two first corners obtained from the first signal curve of CH4 are X11 and X12.

[0112] Calculate the first average rotation angle corresponding to each first signal curve:

[0113] X1=(X11+X12) / 2; X2=(X21+X22) / 2; X3=(X31+X32) / 2; X4=(X41+X42) / 2.

[0114] The first adjustment angle A1 is obtained by weighted averaging the first average turning angles corresponding to each first signal curve. The first adjustment angle A1 = a*X1 + b*X2 + c*X3 + d*X4, where a, b, c, and d are the weights of each first signal curve. When the weights of the first signal curves are equal, the first adjustment angle A1 is the arithmetic mean of X1, X2, X3, and X4. In other optional embodiments, the weights of the first signal curves may be unequal, but the sum of the weights is 1 (considering only valid curves).

[0115] Optionally, if the maximum amplitude of the curve is less than 150mV, it is considered an invalid curve and will not be included in statistics and calculations.

[0116] Step S203: Rotate the receiving reflector around the first axis to the first adjustment angle.

[0117] In this embodiment, the receiving reflector 210 is rotated around the first axis to the first adjustment angle using a motion platform.

[0118] Step S204: Control the receiving reflector to rotate around the second axis and simultaneously acquire the amplitude of the second echo signal through multiple signal channels of the receiving sensor.

[0119] Similar to step S201, in this embodiment, the second rotation angle of the receiving reflector 210 is adjusted using a six-degree-of-freedom displacement platform, and the amplitude of the second echo signal is simultaneously acquired through the four signal channels of the receiving sensor 230. Optionally, the stroke for adjusting the first rotation angle is 3°, and the step size is 0.1°.

[0120] Step S205: Determine the second adjustment angle based on the relationship between the amplitude of the second echo signal obtained from multiple signal channels and the second rotation angle.

[0121] In this embodiment, step S205 may specifically include: generating multiple second signal curves reflecting the relationship between the second echo signal amplitude and the second rotation angle based on the second echo signal amplitude and the second rotation angle obtained from multiple signal channels; in each second signal curve, obtaining the two second rotation angles corresponding to the preset proportion of the largest second echo signal amplitude and calculating the average value to obtain the second average rotation angle; and performing a weighted average of the second average rotation angles corresponding to each second signal curve to obtain the second adjustment angle.

[0122] Figure 5 This is a schematic diagram of the second signal curves in one embodiment of this application. For example... Figure 5 As shown, the final second adjustment angle B1 = a*X1 + b*X2 + c*X3 + d*X4, where a, b, c, and d are the weights of each second signal curve. The specific method for determining the second adjustment angle can be referenced from the method for determining the first adjustment angle in step S202.

[0123] Step S206: Rotate the receiving reflector around the second axis to the second adjustment angle.

[0124] Similar to step S203, in this embodiment, the receiving reflector 210 can be rotated around the second axis to the second adjustment angle using a motion platform.

[0125] In an optional embodiment, after steps S201 to S206, the position of the receiving reflector 210 can be considered adjusted, and then step S300 can be performed. However, in other optional embodiments, after step S206, the position of the receiving reflector 210 can be further finely adjusted. Therefore, optionally, step S200 may also include:

[0126] Step S211: Control the receiving reflector to rotate around the first axis and simultaneously acquire the amplitude of the third echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the third echo signal, the travel distance and step distance of the receiving reflector rotating around the first axis are smaller than the travel distance and step distance of the receiving reflector rotating around the first axis in the process of acquiring the amplitude of the first echo signal.

[0127] Step S212: Determine the third adjustment angle based on the relationship between the amplitude of the third echo signal obtained from multiple signal channels and the first rotation angle;

[0128] Step S213: Rotate the receiving reflector around the first axis to the third adjustment angle;

[0129] Step S214: Control the receiving reflector to rotate around the second axis and simultaneously acquire the amplitude of the fourth echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the fourth echo signal, the travel distance and step distance of the receiving reflector rotating around the second axis are smaller than the travel distance and step distance of the receiving reflector rotating around the second axis in the process of acquiring the amplitude of the second echo signal.

[0130] Step S215: Determine the fourth adjustment angle based on the relationship between the amplitude of the fourth echo signal obtained from multiple signal channels and the second rotation angle;

[0131] Step S216: Rotate the receiving reflector around the second axis to the fourth adjustment angle.

[0132] In this embodiment, steps S211 to S213 are implemented in a similar manner to steps S201 to S203, except that the travel and step size of the receiving reflector 210 rotating around the first axis are reduced. This is because after the adjustment in steps S201 to S203, the rotation position of the receiving reflector 210 around the first axis is roughly determined, requiring only small and precise adjustments instead of large-scale adjustments. Optionally, in step S211, the travel of adjusting the first rotation angle of the receiving reflector 210 is 1°, and the step size is 0.01°.

[0133] Figure 6 This is a schematic diagram of the third signal curves in one embodiment of this application. Figure 6 As shown, in step S212, four third signal curves are obtained, and the final third adjustment angle C1 = a*X1 + b*X2 + c*X3 + d*X4 is obtained, where a, b, c, and d are the weights of each third signal curve. Specifically, the method for determining the third adjustment angle in step S212 can refer to the method for determining the first adjustment angle in step S202, and will not be repeated here.

[0134] In this embodiment, steps S214 to S216 involve fine adjustment of the second rotation angle of the receiving reflector 210 around the second axis. Optionally, in step S214, the stroke of adjusting the second rotation angle of the receiving reflector 210 is 1° and the step size is 0.01°.

[0135] Furthermore, the specific method of step S215 may differ from steps S212 and S202. For example, the fourth adjustment angle may be determined in the following manner:

[0136] At different second turning angles, the square of the difference between the amplitudes of the fourth echo signals acquired by the two signal channels belonging to the same pair is calculated, and the square values ​​corresponding to each pair of signal channels are weighted and averaged to obtain the weighted average value corresponding to each second turning angle; the fourth adjustment angle is determined based on the second turning angle corresponding to the smallest weighted average value.

[0137] Figure 7 This is a schematic diagram of the fourth signal curves in one embodiment of this application. For example... Figure 7 As shown in this embodiment, each second turning point corresponds to a formula. Where U is the difference between the amplitude of the fourth echo signal of CH1 and the amplitude of the fourth echo signal of CH3 at the current second turning angle, V is the difference between the amplitude of the fourth echo signal of CH2 and the amplitude of the fourth echo signal of CH4 at the current second turning angle, a and b are weights, and a+b=0. When the second turning angle is a certain value, W can reach its minimum value. min So W min The corresponding second turning angle D1 can be used as the fourth adjustment angle.

[0138] Optionally, when W min When the value is less than the preset value (e.g., 50mV), the third adjustment angle can be C1+c, and the fourth adjustment angle can be D1+d, where c and d are compensation values. The compensation value can be 0.

[0139] In the above embodiments, the receiving mirror 210 is first roughly coupled according to the first adjustment angle and the second adjustment angle, and then finely coupled according to the third adjustment angle and the fourth adjustment angle.

[0140] Figure 8 This is a flowchart of step S200 in the embodiment of this application when the target device is a receiving sensor 230. Please refer to... Figure 8 In addition to adjusting the receiving reflector 210, the coupling method provided in this application embodiment may also include adjusting the receiving sensor 230. Therefore, when the target device is the receiving sensor 230, the position parameters of the receiving sensor 230 include a first translation in a first direction and a second translation in a second direction, the first direction being perpendicular to the second direction. Figure 2 In this embodiment, step S200 may include:

[0141] Step S221: Control the receiving sensor to translate along the first direction and simultaneously obtain the amplitude of the fifth echo signal through multiple signal channels of the receiving sensor.

[0142] Step S222: Determine the first adjustment position based on the relationship between the amplitude of the fifth echo signal obtained from multiple signal channels and the first translation amount;

[0143] Step S223: Move the receiving sensor along the first direction to the first adjustment position;

[0144] Step S224: Control the receiving sensor to translate along the second direction and simultaneously obtain the amplitude of the sixth echo signal through multiple signal channels of the receiving sensor;

[0145] Step S225: Determine the second adjustment position based on the relationship between the amplitude of the sixth echo signal obtained from multiple signal channels and the second translation amount;

[0146] Step S226: Move the receiving sensor along the second direction to the second adjustment position.

[0147] In an optional implementation, step S222 may specifically include:

[0148] Based on the fifth echo signal amplitude and the first translation amount obtained from multiple signal channels, multiple third signal curves reflecting the relationship between the fifth echo signal amplitude and the first translation amount are generated; in each third signal curve, the two first translation amounts corresponding to the preset proportion of the largest fifth echo signal amplitude are obtained and the average value is calculated to obtain the first average translation amount; the first average translation amounts corresponding to each third signal curve are weighted and averaged to obtain the first adjustment position.

[0149] The specific implementation of steps S221 to S223 can be referred to steps S201 to S203. The difference is that steps S201 to S203 determine the first adjustment angle based on the relationship between the rotation angle of the receiving reflector 210 and the amplitude of the echo signal, while steps S221 to S223 determine the first adjustment position based on the relationship between the translation amount of the receiving sensor 230 and the amplitude of the echo signal.

[0150] In an optional implementation, step S225 may specifically include:

[0151] Based on the sixth echo signal amplitude and second translation amount obtained from multiple signal channels, multiple fourth signal curves reflecting the relationship between the sixth echo signal amplitude and the second translation amount are generated; in each fourth signal curve, the two second translation amounts corresponding to the preset proportion of the largest sixth echo signal amplitude are obtained and the average value is calculated to obtain the second average translation amount; the second average translation amounts corresponding to each fourth signal curve are weighted and averaged to obtain the second adjustment position.

[0152] The specific implementation of steps S224 to S226 can be referred to steps S204 to S206. The difference is that steps S204 to S206 determine the second adjustment angle based on the relationship between the rotation angle of the receiving reflector 210 and the amplitude of the echo signal, while steps S221 to S223 determine the second adjustment position based on the relationship between the translation amount of the receiving sensor 230 and the amplitude of the echo signal.

[0153] In an optional embodiment, after translating the receiving sensor 230 along the first direction to the first adjustment position and along the second direction to the second adjustment position, the initial adjustment of the receiving sensor 230 can be considered complete. Next, step S300 can be directly performed to fix the receiving sensor 230. Of course, the adjustment steps for the receiving sensor 230 may further include:

[0154] Step S231: Control the receiving sensor to translate along the first direction and simultaneously acquire the amplitude of the seventh echo signal through multiple signal channels of the receiving sensor 230. In the process of acquiring the amplitude of the seventh echo signal, the travel distance and step distance of the receiving sensor translating along the first direction are smaller than those of the receiving sensor translating along the first direction in the process of acquiring the amplitude of the fifth echo signal.

[0155] Step S232: Determine the third adjustment position based on the relationship between the amplitude of the seventh echo signal obtained from multiple signal channels and the first translation amount;

[0156] Step S233: Move the receiving sensor along the first direction to the third adjustment position;

[0157] Step S234: Control the receiving sensor to translate along the second direction and simultaneously acquire the amplitude of the eighth echo signal through multiple signal channels of the receiving sensor. In the process of acquiring the amplitude of the eighth echo signal, the travel distance and step distance of the receiving sensor translating along the second direction are smaller than those of the receiving sensor translating along the second direction in the process of acquiring the amplitude of the sixth echo signal.

[0158] Step S235: Determine the fourth adjustment position based on the relationship between the amplitude of the eighth echo signal obtained from multiple signal channels and the second translation amount;

[0159] Step S236: Move the receiving sensor along the second direction to the fourth adjustment position.

[0160] The ultimate goal of steps S231 to S236 is to further adjust the position of the receiving sensor 230 in the first and second directions based on the third and fourth adjustment positions. This can be considered as a further fine adjustment of the receiving sensor 230. Step S231 can be adjusted in the same way as step S221, but with a smaller stroke and step size, for example, a stroke of 0.5 mm and a step size of 0.01 mm. Step S234 can be adjusted in the same way as step S224, but with a smaller stroke and step size, for example, a stroke of 0.5 mm and a step size of 0.01 mm. Step S232 can be implemented in the same way as step S222.

[0161] Furthermore, the specific method of step S235 may differ from steps S232 and S222. For example, the fourth adjustment position may be determined in the following manner:

[0162] Under different second translation amounts, the square of the difference between the amplitudes of the eighth echo signals acquired by the two signal channels belonging to the same pair is calculated, and the square values ​​corresponding to each pair of signal channels are weighted and averaged to obtain the weighted average value corresponding to each second translation amount; the fourth adjustment position is determined according to the second translation amount corresponding to the smallest weighted average value.

[0163] For details on the implementation of step S235, please refer to the previous description of step S215; it will not be repeated here.

[0164] In the above embodiment, the receiving sensor 230 is first coarsely coupled according to the first adjustment position and the second adjustment position, and then finely coupled according to the third adjustment position and the fourth adjustment position. This ensures that the final position of the receiving sensor 230 can better meet the accuracy requirements and ensure that the lidar has better performance.

[0165] The coupling method provided in this application has the following advantages:

[0166] 1. A motion platform was used to achieve automatic coupling of the radar receiving system, ensuring the accuracy and consistency of the coupling of the lidar receiving system, improving the strength of the received echo signal, and thus enhancing the ranging performance of the lidar.

[0167] 2. Improve the production efficiency of lidar, reducing the production cycle from 1 hour to 5 minutes, making the coupling process of the lidar receiving system mass-producible;

[0168] 3. This coupling method has high applicability and is suitable for all semi-solid-state lidar and pure solid-state lidar using SIPM sensors.

[0169] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A coupling method of a radar receiving system, the radar receiving system comprising a receiving mirror and a receiving sensor, the receiving mirror and / or the receiving sensor being a target device to be coupled, characterized in that, The receiving sensor has multiple signal channels, and the coupling method comprises: generating a return wave reaching the receiving sensor via the receiving mirror; acquiring echo signal amplitudes of the target device at different position parameters via the multiple signal channels of the receiving sensor, determining a position adjustment parameter according to the relationship between the echo signal amplitudes acquired via the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameter; fixing the position of the target device; the step of determining the position adjustment parameter according to the relationship between the echo signal amplitudes acquired via the multiple signal channels and the position parameters comprises: in each of the signal channels, acquiring two position parameters corresponding to a preset proportional amplitude of the maximum echo signal amplitude and calculating an average value to obtain an average position parameter corresponding to each of the signal channels; performing weighted averaging on the average position parameters corresponding to each of the signal channels to obtain the position adjustment parameter; alternatively, the receiving sensor comprises at least one pair of signal channels, and the step of determining the position adjustment parameter according to the relationship between the echo signal amplitudes acquired via the multiple signal channels and the position parameters comprises: at each of the position parameters, calculating the square value of the difference between the echo signal amplitudes acquired by each pair of signal channels and performing weighted averaging to obtain a weighted average value at each of the position parameters; determining the position adjustment parameter according to the position parameter corresponding to the minimum weighted average value.

2. The method of coupling a radar receiving system of claim 1, wherein, The receiving mirror and the receiving sensor are coupled as the target device in sequence.

3. The method of coupling a radar receiving system of claim 1, wherein, In the case where the target device is the receiving mirror, the position parameters of the receiving mirror comprise a first rotation angle of the receiving mirror around a first axis and a second rotation angle of the receiving mirror around a second axis perpendicular to the first axis; the step of acquiring echo signal amplitudes of the target device at different position parameters via the multiple signal channels of the receiving sensor, determining a position adjustment parameter according to the relationship between the echo signal amplitudes acquired via the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjustment parameter comprises: controlling the receiving mirror to rotate around the first axis and simultaneously acquiring first echo signal amplitudes via the multiple signal channels of the receiving sensor; determining a first adjustment angle according to the relationship between the first echo signal amplitudes acquired via the multiple signal channels and the first rotation angle; controlling the receiving mirror to rotate around the first axis to the first adjustment angle; controlling the receiving mirror to rotate around the second axis and simultaneously acquiring second echo signal amplitudes via the multiple signal channels of the receiving sensor; determining a second adjustment angle according to the relationship between the second echo signal amplitudes acquired via the multiple signal channels and the second rotation angle; controlling the receiving mirror to rotate around the second axis to the second adjustment angle.

4. The method of coupling a radar receiving system of claim 3, wherein, The step of determining the first adjusting angle according to the relationship between the first echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the first adjusting angle according to the relationship between the first echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the first adjusting angle according to the relationship between the first echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the first adjusting angle according to the relationship between the first echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the second adjusting angle according to the relationship between the second echo signal amplitude obtained by the multiple signal channels and the second rotation angle comprises: The step of determining the second adjusting angle according to the relationship between the second echo signal amplitude obtained by the multiple signal channels and the second rotation angle comprises: The step of determining the second adjusting angle according to the relationship between the second echo signal amplitude obtained by the multiple signal channels and the second rotation angle comprises: The step of determining the second adjusting angle according to the relationship between the second echo signal amplitude obtained by the multiple signal channels and the second rotation angle comprises.

5. The method of coupling a radar receiving system of claim 4, wherein, The preset proportion is 70%.

6. The method of coupling a radar receiving system of claim 3, wherein, After the receiving mirror is rotated to the first adjusting angle around the first axis and rotated to the second adjusting angle around the second axis, the step of obtaining echo signal amplitudes of the target device under different position parameters through the multiple signal channels of the receiving sensor, determining a position adjusting parameter according to the relationship between the echo signal amplitudes obtained by the multiple signal channels and the position parameters, and adjusting the position of the target device according to the position adjusting parameter further comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: The step of determining the third adjusting angle according to the relationship between the third echo signal amplitude obtained by the multiple signal channels and the first rotation angle comprises: rotating the receiving mirror around the second axis to the fourth adjustment angle.

7. The method of coupling a radar receiving system of claim 6, wherein, The receiving sensor comprises at least one pair of signal channels, and the fourth adjustment angle is determined according to the relationship between the fourth echo signal amplitude and the second rotation angle obtained by the plurality of signal channels. At different second rotation angles, the square value of the difference between the fourth echo signal amplitudes obtained by the two signal channels belonging to the same pair is calculated, and the square values corresponding to each pair of signal channels are weighted and averaged to obtain a weighted average value corresponding to each second rotation angle. The fourth adjustment angle is determined according to the second rotation angle corresponding to the smallest weighted average value.

8. The method of coupling a radar receiving system of claim 1, wherein, In the case that the target device is the receiving sensor, the position parameters of the receiving sensor include a first translation amount of the receiving sensor in a first direction and a second translation amount of the receiving sensor in a second direction, the first direction being perpendicular to the second direction; the echo signal amplitudes of the target device at different position parameters are obtained by the plurality of signal channels of the receiving sensor, and the position adjustment parameters are determined according to the relationship between the echo signal amplitudes obtained by the plurality of signal channels and the position parameters, and the position of the target device is adjusted according to the position adjustment parameters. controlling the receiving sensor to translate along the first direction and simultaneously obtaining the first echo signal amplitudes by the plurality of signal channels of the receiving sensor; determining the first adjustment position according to the relationship between the first echo signal amplitudes obtained by the plurality of signal channels and the first translation amount; controlling the receiving sensor to translate along the first direction to the first adjustment position; controlling the receiving sensor to translate along the second direction and simultaneously obtaining the sixth echo signal amplitudes by the plurality of signal channels of the receiving sensor; determining the second adjustment position according to the relationship between the sixth echo signal amplitudes obtained by the plurality of signal channels and the second translation amount; controlling the receiving sensor to translate along the second direction to the second adjustment position.

9. The method of coupling a radar receiving system of claim 8, wherein, The step of determining the first adjustment position according to the relationship between the first echo signal amplitudes obtained by the plurality of signal channels and the first translation amount includes: generating a plurality of third signal curves reflecting the relationship between the first echo signal amplitudes and the first translation amount according to the first echo signal amplitudes obtained by the plurality of signal channels and the first translation amount; in each third signal curve, obtaining two first translation amounts corresponding to a preset proportion of the maximum first echo signal amplitude and calculating an average value to obtain a first average translation amount; weighting and averaging the first average translation amounts corresponding to each third signal curve to obtain the first adjustment position. The step of determining the second adjustment position according to the relationship between the sixth echo signal amplitudes obtained by the plurality of signal channels and the second translation amount includes: generating a plurality of fourth signal curves reflecting the relationship between the sixth echo signal amplitudes and the second translation amount according to the sixth echo signal amplitudes obtained by the plurality of signal channels and the second translation amount; In each of the fourth signal curves, two second translation amounts corresponding to a preset proportion of the maximum sixth echo signal amplitude are obtained and an average value is calculated to obtain a second average translation amount; The second average translation amounts corresponding to each of the fourth signal curves are weighted and averaged to obtain the second adjustment position.

10. The method of coupling a radar receiving system of claim 8, wherein, After the receiving sensor is translated along the first direction to the first adjustment position and along the second direction to the second adjustment position, echo signal amplitudes of the target device under different position parameters are obtained through the multiple signal channels of the receiving sensor, a position adjustment parameter is determined according to the relationship between the echo signal amplitudes obtained by the multiple signal channels and the position parameters, and the position of the target device is adjusted according to the position adjustment parameter. The receiving sensor is controlled to be translated along the first direction and seventh echo signal amplitudes are obtained through the multiple signal channels of the receiving sensor at the same time, wherein, in the process of obtaining the seventh echo signal amplitudes, the stroke and step distance of the receiving sensor translated along the first direction are respectively smaller than the stroke and step distance of the receiving sensor translated along the first direction in the process of obtaining the sixth echo signal amplitudes. A third adjustment position is determined according to the relationship between the seventh echo signal amplitudes obtained by the multiple signal channels and the first translation amounts. The receiving sensor is translated along the first direction to the third adjustment position. The receiving sensor is controlled to be translated along the second direction and eighth echo signal amplitudes are obtained through the multiple signal channels of the receiving sensor at the same time, wherein, in the process of obtaining the eighth echo signal amplitudes, the stroke and step distance of the receiving sensor translated along the second direction are respectively smaller than the stroke and step distance of the receiving sensor translated along the second direction in the process of obtaining the sixth echo signal amplitudes. A fourth adjustment position is determined according to the relationship between the eighth echo signal amplitudes obtained by the multiple signal channels and the second translation amounts. The receiving sensor is translated along the second direction to the fourth adjustment position.

11. The method of coupling a radar receiving system of claim 10, wherein, The receiving sensor includes at least one pair of signal channels, and the fourth adjustment position is determined according to the relationship between the eighth echo signal amplitudes obtained by the multiple signal channels and the second translation amounts, and the step includes: The square values of the differences between the eighth echo signal amplitudes obtained by the two signal channels belonging to the same pair are calculated under different second translation amounts, and the square values corresponding to each pair of signal channels are weighted and averaged to obtain a weighted average value corresponding to each second translation amount; The fourth adjustment position is determined according to the second translation amount corresponding to the minimum weighted average value.

12. The method of coupling a radar receiving system of claim 1, wherein, The target device adjusts the position parameter through a six-degree-of-freedom displacement platform.

13. The method of coupling a radar receiving system of claim 1, wherein, The preset proportion amplitude is 70% of the maximum echo signal amplitude.

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